rename realsense_examples as realsense_node

Signed-off-by: Xiaojun <[email protected]>

examples/CMakeLists.txt → realsense_node/CMakeLists.txt

@@ -1,5 +1,5 @@
 cmake_minimum_required(VERSION 3.5)
-project(realsense_examples)
+project(realsense_node)
 
 # Default to C99
 if(NOT CMAKE_C_STANDARD)

examples/package.xml → realsense_node/package.xml

@@ -1,9 +1,9 @@
 <?xml version="1.0"?>
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
-  <name>realsense_examples</name>
+  <name>realsense_node</name>
   <version>0.0.1</version>
-  <description>Examples for ROS2 realsense package</description>
+  <description>ROS2 realsense node</description>
   <maintainer email="[email protected]">Xiaojun Huang</maintainer>
   <license>Apache License 2.0</license>
 

realsense_ros/config/d415.yaml

@@ -1,23 +1,22 @@
-/d415:
-  camera:
-    ros__parameters:
-      serial_no: 725112060212 # d415
-      align_depth: true
-      enable_pointcloud: true
-      #base_frame_id:
-      color0:
-        enabled: true
-        resolution: [640,480]
-        fps: 30
-      depth0:
-        enabled: true
-        resolution: [640,480]
-        fps: 30
-      infra1:
-        enabled: true
-        resolution: [640,480]
-        fps: 30
-      infra2:
-        enabled: true
-        resolution: [640,480]
-        fps: 30
+camera:
+  ros__parameters:
+    serial_no: 725112060212 # d415
+    align_depth: false
+    enable_pointcloud: false
+    #base_frame_id:
+    color0:
+      enabled: true
+      resolution: [640,480]
+      fps: 30
+    depth0:
+      enabled: true
+      resolution: [640,480]
+      fps: 30
+    infra1:
+      enabled: true
+      resolution: [640,480]
+      fps: 30
+    infra2:
+      enabled: true
+      resolution: [640,480]
+      fps: 30

realsense_ros/config/d435.yaml

@@ -1,23 +1,22 @@
-/d435:
-  camera:
-    ros__parameters:
-      serial_no: 727212071015 # d435
-      align_depth: true
-      enable_pointcloud: true
-      #base_frame_id:
-      color0:
-        enabled: true
-        resolution: [640,480]
-        fps: 30
-      depth0:
-        enabled: true
-        resolution: [640,480]
-        fps: 30
-      infra1:
-        enabled: true
-        resolution: [640,480]
-        fps: 30
-      infra2:
-        enabled: true
-        resolution: [640,480]
-        fps: 30
+camera:
+  ros__parameters:
+    serial_no: 727212071015 # d435
+    align_depth: false
+    enable_pointcloud: false
+    #base_frame_id:
+    color0:
+      enabled: true
+      resolution: [640,480]
+      fps: 30
+    depth0:
+      enabled: true
+      resolution: [640,480]
+      fps: 30
+    infra1:
+      enabled: true
+      resolution: [640,480]
+      fps: 30
+    infra2:
+      enabled: true
+      resolution: [640,480]
+      fps: 30

realsense_ros/config/d435i.yaml

@@ -1,27 +1,26 @@
-/d435i:
-  camera:
-    ros__parameters:
-      serial_no: 843112073259 # d435i
-      align_depth: true
-      enable_pointcloud: true
-      #base_frame_id:
-      color0:
-        enabled: true
-        resolution: [640,480]
-        fps: 30
-      depth0:
-        enabled: true
-        resolution: [640,480]
-        fps: 30
-      infra1:
-        enabled: true
-        resolution: [640,480]
-        fps: 30
-      infra2:
-        enabled: true
-        resolution: [640,480]
-        fps: 30
-      accel0:
-        enabled: true
-      gyro0:
-        enabled: true
+camera:
+  ros__parameters:
+    serial_no: 843112073259 # d435i
+    align_depth: false
+    enable_pointcloud: false
+    #base_frame_id:
+    color0:
+      enabled: true
+      resolution: [640,480]
+      fps: 30
+    depth0:
+      enabled: true
+      resolution: [640,480]
+      fps: 30
+    infra1:
+      enabled: true
+      resolution: [640,480]
+      fps: 30
+    infra2:
+      enabled: true
+      resolution: [640,480]
+      fps: 30
+    accel0:
+      enabled: true
+    gyro0:
+      enabled: true

realsense_ros/config/t265.yaml

@@ -1,19 +1,18 @@
-/t265:
-  camera:
-    ros__parameters:
-      serial_no: 845412110563 # t265
-      #base_frame_id
-      fisheye1:
-        enabled: true
-        resolution: [848,800]
-        fps: 30
-      fisheye2:
-        enabled: true
-        resolution: [848,800]
-        fps: 30
-      accel0:
-        enabled: true
-      gyro0:
-        enabled: true
-      pose0:
-        enabled: true
+camera:
+  ros__parameters:
+    serial_no: 845412110563 # t265
+    #base_frame_id
+    fisheye1:
+      enabled: true
+      resolution: [848,800]
+      fps: 30
+    fisheye2:
+      enabled: true
+      resolution: [848,800]
+      fps: 30
+    accel0:
+      enabled: true
+    gyro0:
+      enabled: true
+    pose0:
+      enabled: true

realsense_ros/include/realsense/rs_constants.hpp

@@ -38,6 +38,7 @@ namespace realsense
 
   const bool ALIGN_DEPTH = false;
   const bool ENABLE_POINTCLOUD = false;
+  const bool DEFAULT_ENABLE_STREAM = true;
 
   const std::vector<int> DEFAULT_IMAGE_RESOLUTION = {640, 480};
   const std::vector<int> FISHEYE_RESOLUTION = {848, 800};

realsense_ros/launch/realsense.launch.py → realsense_ros/launch/d435.launch.py

@@ -19,38 +19,19 @@
 from ament_index_python.packages import get_package_share_directory
 
 def generate_launch_description():
-    t265_param = os.path.join(get_package_share_directory('realsense_ros'), 'config', 't265.yaml')
-    d435_param = os.path.join(get_package_share_directory('realsense_ros'), 'config', 'd435.yaml')
-    d435i_param = os.path.join(get_package_share_directory('realsense_ros'), 'config', 'd435i.yaml')
-    container = ComposableNodeContainer(
-            node_name='realsense_container',
+    d435_container = ComposableNodeContainer(
+            node_name='d435_container',
             node_namespace='',
             package='rclcpp_components',
             node_executable='component_container',
             composable_node_descriptions=[
-                # ComposableNode(
-                #     package='realsense_ros',
-                #     node_plugin='realsense::RealSenseNodeFactory',
-                #     node_namespace='/t265',
-                #     node_name='camera',
-                #     parameters=[t265_param,
-                #                 {'serial_no':'845412110563'}],),
-                # ComposableNode(
-                #     package='realsense_ros',
-                #     node_plugin='realsense::RealSenseNodeFactory',
-                #     node_namespace='/d435i',
-                #     node_name='camera',
-                #     parameters=[d435i_param,
-                #                 {'serial_no':'843112073259'}],),
                 ComposableNode(
                     package='realsense_ros',
                     node_plugin='realsense::RealSenseNodeFactory',
                     node_namespace='/d435',
                     node_name='camera',
-                    parameters=[d435_param,
-                                {'serial_no':'727212071015'}],),
+                    parameters= [{'serial_no':'727212071015'}]),
             ],
             output='screen',
     )
-
-    return launch.LaunchDescription([container])
+    return launch.LaunchDescription([d435_container])

realsense_ros/launch/d435i.launch.py

@@ -0,0 +1,37 @@
+# Copyright (c) 2019 Intel Corporation
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+import os
+import launch
+from launch_ros.actions import ComposableNodeContainer
+from launch_ros.descriptions import ComposableNode
+from ament_index_python.packages import get_package_share_directory
+
+def generate_launch_description():
+    d435i_container = ComposableNodeContainer(
+            node_name='d435_container',
+            node_namespace='',
+            package='rclcpp_components',
+            node_executable='component_container',
+            composable_node_descriptions=[
+                ComposableNode(
+                    package='realsense_ros',
+                    node_plugin='realsense::RealSenseNodeFactory',
+                    node_namespace='/d435i',
+                    node_name='camera',
+                    parameters=[{'serial_no':'843112073259'}]),
+            ],
+            output='screen',
+    )
+    return launch.LaunchDescription([d435i_container])

realsense_ros/launch/t265.launch.py

@@ -0,0 +1,37 @@
+# Copyright (c) 2019 Intel Corporation
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+import os
+import launch
+from launch_ros.actions import ComposableNodeContainer
+from launch_ros.descriptions import ComposableNode
+from ament_index_python.packages import get_package_share_directory
+
+def generate_launch_description():
+    t265_container = ComposableNodeContainer(
+            node_name='t265_container',
+            node_namespace='',
+            package='rclcpp_components',
+            node_executable='component_container',
+            composable_node_descriptions=[
+                ComposableNode(
+                    package='realsense_ros',
+                    node_plugin='realsense::RealSenseNodeFactory',
+                    node_namespace='/t265',
+                    node_name='camera',
+                    parameters=[{'serial_no':'845412110563'}]),
+            ],
+            output='screen',
+    )
+    return launch.LaunchDescription([t265_container])